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Collision-Free Rendezvous Maneuvers for Formations of Unmanned Aerial Vehicles

Papen, Alexander and Vandenhoeck, Ray and Bolting, Jan and Defaÿ, François Collision-Free Rendezvous Maneuvers for Formations of Unmanned Aerial Vehicles. (2017) In: The 20th World Congress of The International Federation of Automatic Control (IFAC 2017), 9 July 2017 - 14 July 2017 (Toulouse, France).

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Official URL: http://dx.doi.org/10.1016/j.ifacol.2017.08.047

Abstract

This article discusses the rendezvous maneuver for a fleet of small fixed-wing Unmanned Aerial Vehicles (UAVs). Trajectories have to be generated on-line while avoiding collision with static and dynamic obstacles and minimizing rendezvous time. An approach based on Model Predictive Control (MPC) is investigated which assures that the dynamic constraints of the UAVs are satisfied at every time step. By introducing binary variables, a Mixed Integer Linear Programming (MILP) problem is formulated. Computation time is limited by incorporating the receding horizon technique. A shorter planning horizon strongly reduces computation time, but delays detection of obstacles which can lead to an infeasible path. The result is a robust path planning algorithm that satisfies the imposed constraints. However, further relaxation of the constraints and fine-tuning is necessary to limit complexity.

Item Type:Conference or Workshop Item (Paper)
Audience (journal):International peer-reviewed journal
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited By: francois defay
Deposited On:15 Feb 2018 15:10

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